mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-20 22:14:34 +08:00
90 lines
3.1 KiB
Python
90 lines
3.1 KiB
Python
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import sys
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import platform
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import threading
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import fibre
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import odrive
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import odrive.enums
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from odrive.utils import start_liveplotter
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#from odrive.enums import * # pylint: disable=W0614
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def print_banner():
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print('Please connect your ODrive.')
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print('You can also type help() or quit().')
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def print_help(args, have_devices):
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print('')
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if have_devices:
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print('Connect your ODrive to {} and power it up.'.format(args.path))
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print('After that, the following message should appear:')
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print(' "Connected to ODrive [serial number] as odrv0"')
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print('')
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print('Once the ODrive is connected, type "odrv0." and press <tab>')
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else:
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print('Type "odrv0." and press <tab>')
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print('This will present you with all the properties that you can reference')
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print('')
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print('For example: "odrv0.motor0.encoder.pos_estimate"')
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print('will print the current encoder position on motor 0')
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print('and "odrv0.motor0.pos_setpoint = 10000"')
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print('will send motor0 to 10000')
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print('')
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#interactive_variables = {}
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#
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#discovered_devices = []
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#
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#def did_discover_device(odrive, logger, app_shutdown_token):
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# """
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# Handles the discovery of new devices by displaying a
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# message and making the device available to the interactive
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# console
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# """
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# serial_number = odrive.serial_number if hasattr(odrive, 'serial_number') else "[unknown serial number]"
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# if serial_number in discovered_devices:
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# verb = "Reconnected"
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# index = discovered_devices.index(serial_number)
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# else:
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# verb = "Connected"
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# discovered_devices.append(serial_number)
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# index = len(discovered_devices) - 1
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# interactive_name = "odrv" + str(index)
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#
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# # Publish new ODrive to interactive console
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# interactive_variables[interactive_name] = odrive
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# globals()[interactive_name] = odrive # Add to globals so tab complete works
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# logger.info("{} to ODrive {:012X} as {}".format(verb, serial_number, interactive_name))
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#
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# # Subscribe to disappearance of the device
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# odrive.__channel__._channel_broken.subscribe(lambda: did_lose_device(interactive_name, logger, app_shutdown_token))
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#
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#def did_lose_device(interactive_name, logger, app_shutdown_token):
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# """
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# Handles the disappearance of a device by displaying
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# a message.
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# """
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# if not app_shutdown_token.is_set():
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# logger.warn("Oh no {} disappeared".format(interactive_name))
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def launch_shell(args, logger, printer, app_shutdown_token):
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"""
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Launches an interactive python or IPython command line
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interface.
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As ODrives are connected they are made available as
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"odrv0", "odrv1", ...
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"""
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interactive_variables = {
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'start_liveplotter': start_liveplotter
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}
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# Expose all enums from odrive.enums
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interactive_variables.update({k: v for (k, v) in odrive.enums.__dict__.items() if not k.startswith("_")})
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fibre.launch_shell(args,
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interactive_variables,
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print_banner, print_help,
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logger, app_shutdown_token,
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branding_short="odrv", branding_long="ODrive")
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